function bciRecognizeObjects()

fprintf('Move Gripper away from camera view and wait for scene ...');
setRESI('manipulateObject','action',3); % //3=FREE_CAMERA_VOLUME (moves roboter)  
bciWaitForFinishedAction(0.5);
fprintf(' done.\n');

R = input('Press <Enter> to continue initialization. ','s');

fprintf('Remove gripper ...');
setRESI('manipulateObject','action',4); % //4=Start position of roboter
bciWaitForFinishedAction(0.5);
fprintf('done.\n');

% setRESI('manipulateObject','action',5); % //5=lift gripper
% bciWaitForFinishedAction(0.5);


function bciWaitForFinishedAction(pauseDelay)
isFinished = getRESI('isFinished','finished');
while ~isFinished, % wait until finished
    pause(pauseDelay);
    isFinished = getRESI('isFinished','finished');
end